From 8783adcabed5e47dcad78b0a1a65f7ac51663ec1 Mon Sep 17 00:00:00 2001
From: Ryan Pavlik <ryan.pavlik@collabora.com>
Date: Tue, 8 Oct 2019 12:13:04 -0500
Subject: [PATCH] Reduce IMU variance for now

---
 src/xrt/auxiliary/tracking/t_tracker_psmv.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/xrt/auxiliary/tracking/t_tracker_psmv.cpp b/src/xrt/auxiliary/tracking/t_tracker_psmv.cpp
index c15dc359e..c623e42c3 100644
--- a/src/xrt/auxiliary/tracking/t_tracker_psmv.cpp
+++ b/src/xrt/auxiliary/tracking/t_tracker_psmv.cpp
@@ -550,7 +550,7 @@ imu_data(TrackerPSMV &t,
 	//! @todo use better measurements instead of the above "simple fusion"
 	flexkalman::predict(t.filter_state, t.process_model, dt);
 	auto meas = flexkalman::AbsoluteOrientationMeasurement{
-	    t.imu.getQuat(), Eigen::Vector3d::Constant(0.01)};
+	    t.imu.getQuat(), Eigen::Vector3d::Constant(0.1)};
 	if (!flexkalman::correctUnscented(t.filter_state, meas)) {
 		fprintf(stderr,
 		        "Got non-finite something when filtering IMU!\n");
-- 
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